This is an automated email from the ASF dual-hosted git repository.
lupyuen pushed a commit to branch releases/12.7
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
commit de7bbc1b25d05598847b26e5165eb1bd9f4c3e1c
Author: dongjiuzhu1 <dongjiuz...@xiaomi.com>
AuthorDate: Tue Apr 2 20:15:10 2024 +0800
uorb/flush: support flush operation
After you call orb_flush(), you can determine whether the
flush is completed by listening to the POLLPRI event
of fd and getting the event in orb_get_events.
After calling orb_get_events, the flush events will be cleared.
Signed-off-by: dongjiuzhu1 <dongjiuz...@xiaomi.com>
---
system/uorb/uORB/uORB.c | 15 +++++++++++++++
system/uorb/uORB/uORB.h | 40 ++++++++++++++++++++++++++++++++++++++++
2 files changed, 55 insertions(+)
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index 09f611c1b..4efac9bce 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -229,6 +229,16 @@ int orb_get_state(int fd, FAR struct orb_state *state)
return ret;
}
+int orb_get_events(int fd, FAR unsigned int *events)
+{
+ if (!events)
+ {
+ return -EINVAL;
+ }
+
+ return ioctl(fd, SNIOC_GET_EVENTS, (unsigned long)(uintptr_t)events);
+}
+
int orb_check(int fd, FAR bool *updated)
{
return ioctl(fd, SNIOC_UPDATED, (unsigned long)(uintptr_t)updated);
@@ -239,6 +249,11 @@ int orb_ioctl(int fd, int cmd, unsigned long arg)
return ioctl(fd, cmd, arg);
}
+int orb_flush(int fd)
+{
+ return ioctl(fd, SNIOC_FLUSH, 0);
+}
+
int orb_set_interval(int fd, unsigned interval)
{
return ioctl(fd, SNIOC_SET_INTERVAL, (unsigned long)interval);
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index 5c82d4807..4492a0b2a 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -79,6 +79,8 @@ typedef struct sensor_device_info_s orb_info_t;
* Pre-processor Definitions
****************************************************************************/
+#define ORB_EVENT_FLUSH_COMPLETE SENSOR_EVENT_FLUSH_COMPLETE
+
#define ORB_SENSOR_PATH "/dev/uorb/"
#define ORB_USENSOR_PATH "/dev/usensor"
#define ORB_PATH_MAX (NAME_MAX + 16)
@@ -486,6 +488,23 @@ static inline int orb_copy(FAR const struct orb_metadata
*meta,
int orb_get_state(int fd, FAR struct orb_state *state);
+/****************************************************************************
+ * Name: orb_get_events
+ *
+ * Description:
+ * Get the events about the specify subscriber of topic.
+ *
+ * Input Parameters:
+ * fd The fd returned from orb_advertise / orb_subscribe.
+ * events Pointer to events, type is unsigned int pointer.
+ * eg: ORB_EVENT_FLUSH_COMPLETE
+ *
+ * Returned Value:
+ * -1 on error.
+ ****************************************************************************/
+
+int orb_get_events(int fd, FAR unsigned int *events);
+
/****************************************************************************
* Name: orb_check
*
@@ -528,6 +547,27 @@ int orb_check(int fd, FAR bool *updated);
int orb_ioctl(int fd, int cmd, unsigned long arg);
+/****************************************************************************
+ * Name: orb_flush
+ *
+ * Description:
+ * When topic data accumulates in the hardware buffer but does not reach
+ * the watermark, you can mmediately read the fifo data through the flush
+ * operation. You can call the flush operation at any time.
+ *
+ * After you call flush, you can determine whether the flush is completed
+ * by listening to the POLLPRI event of fd and getting the event in
+ * orb_get_events
+ *
+ * Input Parameters:
+ * fd A fd returned from orb_advertise / orb_subscribe.
+ *
+ * Returned Value:
+ * 0 on success.
+ ****************************************************************************/
+
+int orb_flush(int fd);
+
/****************************************************************************
* Name: orb_set_batch_interval
*
